CN1461460A - Animation creation program - Google Patents
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- CN1461460A CN1461460A CN02801134A CN02801134A CN1461460A CN 1461460 A CN1461460 A CN 1461460A CN 02801134 A CN02801134 A CN 02801134A CN 02801134 A CN02801134 A CN 02801134A CN 1461460 A CN1461460 A CN 1461460A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T13/00—Animation
- G06T13/20—3D [Three Dimensional] animation
- G06T13/40—3D [Three Dimensional] animation of characters, e.g. humans, animals or virtual beings
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
- G06T19/20—Editing of 3D images, e.g. changing shapes or colours, aligning objects or positioning parts
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2219/00—Indexing scheme for manipulating 3D models or images for computer graphics
- G06T2219/20—Indexing scheme for editing of 3D models
- G06T2219/2016—Rotation, translation, scaling
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Abstract
A 3-dimensional animation of a structure having a plurality of links is created by simple and easy operation. When a first link is moved on a screen, an inverse kinematic calculation is performed to determine the position of each link so as to maintain the posture of the entire structure wherever possible, and the structure is displayed on the screen in accordance with the determined positions. Here, in accordance with the movement of the first link, setting of a joint portion of the second link (whether the link position is fixed or movable, or the rotation range limit) is automatically modified.
Description
Technical field
The animation creation program that the present invention relates to adopt three dimensional computer graphics to learn more particularly, relates to and is used for showing structure that comprises a plurality of links that three dimensions constructs and the animation creation program of creating the animation (live image) of this structure.
Background technology
In general, in the field of creating two-dimentional modular animation, the establishment of role movement is divided into " original image " and " live image "." original image " is a picture, wherein draw and determine to do the posture of as a whole motion, and " live image " is the picture that generates by interpolation between " original image " and another image.
Simultaneously, three dimensional computer graphics is learned and is widely used as another kind of formative method.Learn in the image at three dimensional computer graphics, created after the data that are called " key frame ", by automatic data of creating between the key frame such as spline interpolations.When " key frame " is taken as " original image " in the modular animation, we can say that the method for work that adopts in two kinds of situations is very similar.
But according to present case, three dimensional computer graphics is learned the expressive ability that moulding does not reach two-dimentional modular animation as yet.Main cause allegedly is hereinafter the principle of work with the example explanation.
For example, when creating the motion of personage's class model, in three dimensional computer graphics is learned, in the shape establishment of three dimensional character class model, improve to some extent, but, for the method for each position that makes figure kind's model such as hand, pin and head movement, with regard to present circumstances, by rough and careless classification, the method that has only adopted capturing movement and three-dimensional rotation data computing to handle.Capturing movement only provides true man's motion, thereby has limited freely expressing of animator sometimes.In addition, figure kind's model is the structure that comprises various link, thereby has complicacy and very big degree of freedom.Link is to have the joint component that constitutes rotation center and the structural unit of the microscler part of extending from described joint component.Link also may only be made of joint component.
Figure 19 represents the example of simple figure kind's model that a plurality of links constitute.In Figure 19, the joint component 11 of each link 10 is expressed as circular portion, and the microscler part 12 of extending from joint component 11 is expressed as straight line portion.There are some problems in the motion of controlling this figure kind's model by conventional computation processing method (for example, simple inverse is to kinematic method).For example, for the animation creation program that adopts conventional inverse kinematics method, when moving a link, can't determine the position of other link automatically so that this figure kind's model keeps natural as far as possible posture.Or rather, conventional animation creation program is redefined for the joint component of all-links movably or is fixing.The trouble part is so just arranged: when selecting any link and move the position of (or rotation) this link, the rotating range that must exceed its joint component is moved in the position of other removable link, and does not move the position of fixing joint component, and this just causes the posture of figure kind's model unnatural; And the position that selected link can't be moved to expectation, because other link is fixed.In this case, animator needs executable operations to cancel fixedly installing of each joint component, so that create the posture of personage's class model, by moving the posture that expectation is created in each link.Therefore, the complicated operation and the efficient of conventional animation creation program are low, and for animator, this program is difficult to use.
Disclosure of an invention
Therefore, an object of the present invention is to provide a kind of animation creation program, thus, can determine to comprise the posture of the structure of a plurality of links by shirtsleeve operation more.
Another object of the present invention provides a kind of animation creation program of such formation, makes according to the moving of given link, and comprises that the structure of a plurality of links keeps natural as far as possible posture.
To achieve these goals, the invention provides a kind of animation creation program, it makes the structure that comprises a plurality of links keep natural as far as possible posture according to the position of determining other link in the structure of moving of given link.
For example, animation creation program of the present invention adopts the inverse kinematics computing method, and this computing method is used to control figure kind robot (humanoid), and based on Jacobi matrix and inverse matrix thereof, the latter is called unusual healthy and strong inverse matrix (SR-inverse matrix).By in animation creation program, adopting these computing method, in the establishment of the animation of the structure that comprises a plurality of links, during one of the structure that on moving screen, shows link, can determine the position of other link of this structure automatically, make the posture of this structure can not become unnatural on the whole, and create the animation of the structure that comprises a plurality of links by simpler and easy operation.
Brief description
Fig. 1 is the example that shows the screen of the structure that comprises a plurality of links;
Fig. 2 is used to illustrate the change of the color of selected link;
Fig. 3 is used to illustrate the example that the posture according to the structure of present embodiment changes;
Fig. 4 is used to illustrate another example that the posture according to the structure of present embodiment changes;
Fig. 5 illustrates the example of the screen of the rotating range that shows link;
Fig. 6 is used to illustrate timetable according to an embodiment of the invention;
Fig. 7 is used to illustrate that the mirage phantom of this structure shows;
Fig. 8 is used to illustrate that the mirage phantom of this structure shows;
The example of Fig. 9 screen that to be wherein a plurality of structures show in the mirage phantom mode;
Figure 10 is used to illustrate the function of the link of additional structure;
Figure 11 is used to illustrate the function of the link of additional structure;
Figure 12 is used to illustrate the function of the link of additional structure;
Figure 13 represents wherein to show the example of the screen of selecting the zone in the timetable window;
Figure 14 provides the explanation to the establishment of one group of animation of a part that constitutes structure;
Figure 15 provides the explanation to the establishment of one group of animation of a part that constitutes structure;
Figure 16 provides the explanation to the establishment of one group of animation of a part that constitutes structure;
Figure 17 provides the explanation to the establishment of one group of animation of a part that constitutes structure;
Figure 18 provides the explanation to the establishment of one group of animation of a part that constitutes structure;
Figure 19 represents the example of figure kind's model of being made of a plurality of links.
Preferred forms of the present invention
Hereinafter embodiments of the invention will be described.But technical scope of the present invention is not limited thereto embodiment, also is not subjected to the restriction of this embodiment.
Fig. 1 is the example that shows the screen of the structure that comprises a plurality of links.The screen of Fig. 1 is the screen that for example moves according to the computing machine of the animation creation program of present embodiment.The figure kind's structure that is included in a plurality of links of constructing in the predetermined three-dimensional space is presented on this screen.As shown in the figure, link 10 constitutes by joint component (circular portion) 11 with from the microscler part (straight line portion) 12 that joint component 11 extends out.Though undeclared, straight line portion has preset width.Link 10 also may only be made of joint component 11.Joint component is the rotation center corresponding to personage or joint of animal.In addition, the rotating range of joint component (angle) can be by user preset and change.Structure among Fig. 1 is figure kind's model, but as long as structure is the object (animal, excavator etc.) that comprises a plurality of links, it is figure kind's structure that structure just is not limited to.
The user can fetch and selects link arbitrarily by handling a chain that mouse etc. aims at shown structure with cursor (indicating device) 20.In the present embodiment, more particularly, only need that cursor is aimed at a link and can select this link, do not need to adopt predetermined link selection operation, such as following operation: handle mouse so that cursor is aimed at required link, show a menu by left button single-click operation or right-click operation, specify " selection " in this menu then.Therefore, the user can more easily select link.In addition, according to present embodiment, cursor is aimed at the color that arbitrarily link can change this link.Thereby the user can discern selected link.
Fig. 2 is used to illustrate the change of the color of selected link.To shown in Fig. 2 (b), moving cursor makes this cursor aim at the color that any link can change this link as Fig. 2 (a).
The user can be made as the locus of the joint component of selected link movably or be fixing.For example, shown in Fig. 2 (c), after selecting this link, the joint component of selected link can and select " fixing " contained in the menu of demonstration thus fixing so that it is made as by right-click in that cursor is aimed at any link.In addition, be movably and want this is provided with from fixing and when changing into movably, can select " cancellation is fixing " when initial setting.Preferably make the Show Color of joint component different, so that distinguish that the setting of joint component is fixed or movably according to its setting.
The user utilize the selected chain of mouse drag to fetch to move and Rotation screen on link, thereby the posture of handle structure.At this moment, the joint component that is configured to movably link can moving according to trailing link, and according to the moving and rotation of trailing link, the joint component of the link that is configured to fix is in the posture that can not make structure and becomes in the factitious scope and do not move.
In addition, according to moving of selected link, other link is in the scope that makes structure keep natural manner and rotation is no more than rotating range.
Like this, according to the animation creation program of present embodiment according to trailing link move and the position of other link is determined in rotation, make the posture nature as much as possible of structure.
For this purpose, animation creation program according to present embodiment, as an example, adopt the inverse kinematics computing method, it is based on the matrix that is called Jacobi and be called the inverse matrix of unusual healthy and strong inverse matrix (SR-inverse matrix), (hereinafter referred to as " based on the inverse kinematics computing method of Jacobi and SR-inverse matrix thereof ").Inverse kinematics computing method based on Jacobi and SR-inverse matrix thereof is a kind of computing method for control figure kind robot (humanoid) exploitation, by in animation creation program, adopting these computing method, determine the position of other link of this structure during one of the structure that can on moving screen, show link, make the posture of the structure nature that can not become on the whole.
In inverse kinematics computing method, when the user wishes to fetch the posture that restructures by the chain of selecting given link and moving this selection, when determining the posture of structure, can consider following three conditions based on Jacobi and SR-inverse matrix thereof:
(1) link beyond the selected link is set as when fixing, and the position of other link was maintained fixed when the posture of structure changed.The quantity of fixed-link and arrangement are arbitrarily.
(2) rotation of these links is no more than default rotating range (angle).
(3) determine posture like this, make the angle that links be positioned as close to desired value (ideal value) separately.
Above-mentioned condition is conflict each other sometimes, so that there is the situation etc. utilize computing method to find to separate or difference to occur.But, utilize posture according to the aforementioned calculation method control structure of present embodiment to reach perfect condition, can continue to obtain also stable solution at above-mentioned condition.By aforementioned calculation method used in the present embodiment, can carry out each link each condition " is opened " and setting of " closing " and the importance that each condition is set, like this, even forced the condition that conflict is arranged, the degree that realizes also can be regulated automatically according to importance, and can find stable solution, wherein structure adopts natural as far as possible posture.Therefore, may have fixing joint component and move or link the situation that rotation surpasses its rotating range.
Owing to adopt this computing method in the animation creation method,, make this link be placed on specified position so the user just can determine the natural manner of total by single operation, as moving an operation of single any link.Therefore, when moving link one by one, compare with conventional method of operating, can be very simple and the posture of handle structure intuitively, determine the posture of structure on the whole.
In the following document, describe the concrete grammar that calculates based on the inverse kinematics of Jacobi and SR-inverse matrix in detail, for example:
Nakamura, Y. and Hanafusa, H: " the inverse kinematics solution that is used for robot manipulation's hand control ", " Journal of Dynamic System with unusual robustness, Measurement, and Control " the 163rd to 171 page (1986) of the 108th volume;
Nagasaka, Inaba, Inoue: " adopting the system action design of the anthropomorphic robot of kinematic motion switched filter group ", the 1207th to 1208 page (1999) of " Proceedings of the 17th AnnualConference of the Robotics Society of Japan " the 3rd volume;
DasGupta, A. and Nakamura, Y: " data of catching according to human motion realize the reasonable walking movement of anthropomorphic robot ", " Proceedings of InternationalConference on Robotics and Automation " the 1044th to 1049 page (1999).
Popovic, Z: " dynamic attribute of the human motion that editor catches ", " Proceedingsof IEEE international Conference on Robotics and Automation " the 670th to 675 page (2000).
Nakamura, Yamane, Nagashima: " change kinematic chain structure dynamic calculation and to personage's application ", " Journal of the Robotics Society of Japan " the 16th volume the 124th to 131 page of the 8th phase (1998).
Nakamura, Yamane, Nagashima: " dynamics one of the kinematic chain that constraint condition changes discontinuously with process that its environment contacts in application on the personage that moves ", " Journal of the Robotics Society of Japan " the 18th the 3rd the 435th to 443 page of phase (2000) of volume.
Fig. 3 is used to illustrate the example that the posture according to the structure of present embodiment changes.In the example of Fig. 3 of a plurality of links that constitute figure kind's structure, link A, the B, C, D and the E that constitute limbs (head, hand and foot) are fixed-link.In Fig. 3, link F partly also is a fixed-link corresponding to waist equally.According to embodiments of the invention, fixing even link is set as, also can be by selecting to pull and move the link of this setting.
Therefore,, can drag this fixed-link, and it is removable so that being provided with of this link changed into temporarily not resemble the regular situation executable operations, thereby can simplifies the operation when (will the move) link that will drag is set as when fixing.And after dragging link, the setting that is made as fixing link still remains fixing, and when dragging another link, such link is used as fixed-link and handles.Certainly, also can drag on-fixed link (being made as movably link) arbitrarily by selecting this chain to fetch.
In Fig. 3 (a), as the link F that for example selects as the waist part of figure kind's structure, and shown in Fig. 3 (b), along the screen diagram of window frame (omit) laterally drag the joint component of this link the time, the algorithm of the animation creation program by present embodiment, determine the position of each link, so that keep natural as far as possible on the whole structure posture.For example, the position of the joint component of the hand on the screen and foot link B, C, D and E does not change and does not move, and move the position of head link A, fixing although it is set as.
Moreover, shown in Fig. 3 (c), when the situation that is similar to Fig. 3 (b), along screen when right drags, the position of the joint component of hand and foot link B, C, D and E does not change and does not move, head links the position of A and moves, and is fixing although it is set as.
Therefore, in some situation, according to moving of selected link, the animation creation program of present embodiment shows the position of the link outside the selected link, even make this class link fix, also moves these positions.
Fig. 4 is used to illustrate another example that the posture according to the structure of present embodiment changes.In the example of Fig. 4, drag waist link F and cause the all-links of link A, the B, C, D and the E that comprise other setting all to move by the order of Fig. 4 (a), 4 (b) and 4 (c).
In addition, according to present embodiment, select this link by cursor being aimed at link arbitrarily, " demonstration rotating range " (referring to Fig. 2 (c)) that comprises in right-click and the menu selecting to show thus then can show the rotating range of selected link.
Fig. 5 illustrates the example of the screen of the rotating range that shows link.Fig. 5 (a) is the example that wherein shows the rotating range of a link.The scope of this rotating range can be changed by user's operation.For example, by selecting link, from the menu of right-click, select " change rotating range " (seeing Fig. 2 (c)) then and drag fan-shaped (or oval) part of indicating rotating range, can shown in Fig. 5 (b), reduce rotating range or shown in Fig. 5 (c), expand rotating range.
In addition, shown in Fig. 5 (d), according to the animation creation program of present embodiment, link can also exceed current rotating range.In other words, in some situation, when dragging selected link, because the position of other link is determined, make structure keep natural as far as possible posture on the whole, so the animation creation program of present embodiment shows the position of link, so that rotation exceeds default rotating range.
And, exceed in the situation of its rotating range etc. in some links, when dragging and rotating this link, make this link be positioned at the limit of its rotating range or just be positioned at this limit or when outer, can also make the color change of rotating range.
In addition, shown in Fig. 5 (e), show that the number of links of rotating range is not limited to one.But can also show the rotating range of any a plurality of links simultaneously.
Except that the window that shows said structure, also show animation time table window in the screen.
Fig. 6 is used to illustrate the timetable according to the embodiment of the invention.Fig. 6 (a) is the outside drawing of the timetable window screen that shows side by side with the window screen that shows structure shown in Figure 1, and Fig. 6 (b) is the enlarged drawing of this window screen.According to present embodiment, shown timetable has time shaft vertically.Therefore, in the frame hurdle in the position of each frame in respect of time and the time fences whole animation elapsed time etc. show in vertical direction.Best, can also show the position of the frame that is showing in the position of key frame and the current screen.
Create the animation of structure by following operation.At first, in the frame of current screen, create the posture of structure among Fig. 3 (a), for example it being built is first key frame.Then, select a frame after the frame of predetermined number after this frame, and in this screen, create the posture of structure among Fig. 3 (b), and it is built is second key frame as current screen.In addition, select a frame after the frame of predetermined number after this frame, and in this screen, create the posture of structure among Fig. 3 (a) again, and it is built is the 3rd key frame as current screen.Then, select a frame after the frame of predetermined number after this frame again, and in this screen, create the posture of structure among Fig. 3 (c), and be established as the 4th key frame as current screen.After creating these key frames in this way, by carrying out the predetermined two field picture of handling between the operation establishment key frame that inserts.Thus, can create the animation of the horizontal smooth motion of moving of waist that makes structure.
Conventional animation creation program shows timetable like this, makes the time shaft along continuous straight runs layout of timetable.But according to present embodiment, timetable is with the vertical in form setting.Therefore, can conventional film etc. in the mode of vertical transport film imagine assembled stream, and provide understandable interface for the wright of the two-dimentional modular animation of routine.
Animation creation program of the present invention is not limited to the animation creation program of the employing described in the foregoing description based on the inverse kinematics computing method of Jacobi and SR-inverse matrix thereof, and can also be to comprise the link position that allows to determine automatically structure so that structure keeps the program of the computing method (algorithm) of natural as far as possible posture.
(additional embodiment)
An additional embodiment of the present invention hereinafter is described.The animation creation program of present embodiment is included in the window screen of demonstration corresponding to the structure of the key frame of current time, show function corresponding to the structure of the frame of another time with the mirage phantom form.Show the structure of another time by mirage phantom, make color desalination and/or transparency higher than the structure of current time.
The mirage phantom that Fig. 7 and Fig. 8 are used for description architecture shows.In the screen example of Fig. 7, the action pane 1 of display structure and the timetable window 2 of demonstration timetable have been shown.In action pane 1, shown the corresponding structure M1 of key frame K1 of the current time on the timetable with timetable window 2.Herein, when the displaying contents in the menu of user click timetable window 2 and when " mirage phantom that shows last key frame " in the drop-down menu of selecting for example to show thus, the pairing structure M2 of key frame K2 as the frame before the key frame K1 shows with the mirage phantom form, as shown in the screen example of Fig. 8.
The number of the structure that shows with the mirage phantom form is not limited to one, can show a plurality of.In addition, the structure that shows with the mirage phantom form is not limited to the structure as the key frame of the frame before the current time.Can also select the structure of key frame of the more front of next key frame after the current time, or the structure of the key frame of back more.In addition, as shown in the drop-down menu, not only the structure of the structure of key frame but also the frame between the key frame (being shown as " frame " in the following menu) can the mirage phantom form show.
In addition, the structure of another time is not limited to mirage phantom and shows, can also be presented in the action pane 1 on the contrary, and it can be distinguished mutually with the structure of current time, for example can show with different colors.
The example of Fig. 9 screen that to be wherein a plurality of structures show in the mirage phantom mode.Key frame K5 in the timetable window 2 of Fig. 9 is the key frame of current time, except that the pairing structure M5 of key frame K5, key frame K3, K4, the pairing structure M3 of K6, K7, M4, M6, M7, wherein two before key frame K5, two after key frame K5, all show with the mirage phantom form.And, though in Fig. 9, do not represent, when a plurality of structures show with the mirage phantom form, can provide to allow to select a plurality of frames to carry out the menu that mirage phantom shows.
Thus, by in the window of the structure of the key frame that shows the current time, with the mirage phantom form, showing the structure of another key frame, the user can create the structure of the key frame of current time, confirms the posture and the position of structure of the key frame of another time simultaneously, thereby realizes high efficiency operation.
Best, when when cursor being aligned in the action pane 1 structure that the structure that shows with the mirage phantom form and a mouse click select to show with the mirage phantom form, the key frame of current time can be moved to the pairing key frame of selected structure.For example, in Fig. 8, when selecting structure M2, the key frame of current time changes key frame K2 into from key frame K1 in the timetable window 2.Therefore, at action pane 1, structure M2 changes normal demonstration into from the mirage phantom demonstration.In addition, in this case, the structure of the key frame of leading another key frame of key frame K2 shows with the mirage phantom form.
In addition, the link that can also have in the structure of the key frame that allows the current time of the animation creation program of present embodiment appends to the pairing function that chains of the structure that shows in the mirage phantom mode.
This additional function is a useful function under the situation that the user wishes the position of the link of the structure between the different key frames is mated.
Figure 10,11 and 12 is used to illustrate the function of the link of additional structure.As shown in figure 10, when the user selected and drag link L1 (link of dotted line) among the structure M1 of current time, for example shown in Figure 11, selected link L1 shifted near the structure M2 that shows in the mirage phantom mode pairing link L2 (link of dotted line).When link L1 on the screen with link distance between the L2 when being equal to or less than preset distance, link the position that L1 moves to selected link the respective links L2 that shows in the mirage phantom mode automatically, as shown in figure 12.Therefore, link L1 and link L2 are overlapping each other and are showing.In other words, (three-dimensional) coordinate of the predetermined point of link L1 and relatively in window screen corresponding to the coordinate of link 2 point, and when the distance between these two groups of coordinates was equal to or less than preset distance, link 1 was moved, and made the coordinate of link L1 become the coordinate of link L2.At this moment,, determine the position and the posture of other link of structure M1, make structure M1 keep natural manner according to inverse kinematics computing method based on Jacobi and SR-inverse matrix.
Because the animation creation program according to present embodiment shows three-dimensional structure on two-dimensional screen, so when not providing this additional function, even the user manages visually will link L1 and link L2 is overlapping, even look that on screen these two links overlap each other, but sometimes these two be linked on the screen depth of field direction and do not match each other.In this case, when the change viewpoint was come display structure, these two links were not overlapping, need operate dragging link 1 once more, made link 1 and link 2 overlap each other, and this is inefficient.Therefore, at the animation creation program of the present embodiment that is used for creating three-dimensional structure, above-mentioned additional function is effective especially, and substantially helps the user to increase work efficiency when the creation animation.
In addition, the animation creation program according to present embodiment allows to select at least one frame (comprising key frame) by operating at timetable execution preset selection.At this moment, the zone of selected one (or many) frames (selecting the zone) is presented on the timetable.
Figure 13 represents wherein to show the example of the screen of selecting the zone in the timetable window.In Figure 13, select region S to be presented at the next door of selected frame, so that follow vertical orientated frame hurdle closely.In Figure 13, frame number 1 to 13 is selected.Be presented at the playback button (" [the shade triangle that makes progress] " (reverse reproduction) or " [downward shade triangle] " (forward playback)) of selecting the region S next door by clicking, just can reset and select the frame of region S.In addition, " [shade the square] " button between playback button " [the shade triangle that makes progress] " and " [downward shade triangle] " is the playback stop button.
In addition, the frame of selecting region S can be copied to the frame in another time interval according to the animation creation program of present embodiment.At first, (1) though Figure 13 do not represent, come display menu by cursor aim at being selected region S and right-click, can duplicate all frames of selecting region S by selecting " duplicating " contained in this menu.Next, (2) select predetermined frame (having selected frame number 16 among Figure 10), and (3) paste the frame that is duplicated with selected frame as reference position by right-click and contained " stickup " in the menu of selecting to show thus.In other words, in Figure 13, the frame of numbering 1 to 12 is by " stickup " frame to numbering 16 to 28.Thus, can easily create the animation of repeating motion.
Can also turn up the soil with the frame component that is used to create all a plurality of motions that link that constitute structure according to the animation creation program of present embodiment and to create one group (frame group), be used for creating motion about some (at least one) links.That is to say,, can also be provided for the frame hurdle of the group of some link separately except being used for the frame marge of total.Thus, can separate, create motion separately corresponding to some link with the motion of as a whole structure.Can also will synthesize corresponding to the motion of the motion of some link and structure as a whole.This function can shear constitution an only part, thereby create motion corresponding to this part.
Figure 14 to 18 provides the explanation to one group of animation creating a part that constitutes structure.Show the used frame hurdle of structure as a whole in the timetable window 2 among Figure 14, be presented in the action pane 1 corresponding to the structure of selected frame.By the screen of Figure 14, the user can come by the key frame of selecting to be scheduled to create motion for structure as a whole.In Figure 14, do not create as yet " group ".
In Figure 15, in order to create group, the user at first selects the link of formation group.In Figure 15, a plurality of links (link in the dotted line) that constitute structure the first half selected (color change of selecteed link is to be different from the color that select chain not connects).For example, by selecting link can select a plurality of links by " Shift " key on the lower keyboard simultaneously.When finishing the selection of link, create the group of group name for " group 1 " by selecting the Create button in (clicking) timetable window.
Figure 16 is the example of the screen after the establishment group, has shown the button that is used for switching between structure " integral body " and " group 1 " in the timetable window 2.When selecting " group 1 ", some links (constituting those links of the first half of structure) corresponding to group 1 are usually displayed in the action pane 1, owing to be not group 1 link, all the other links utilize another kind of display packing show (for example be shown as transparent, as shown in the figure).
The user can separate with the motion of creating at structure as a whole in screen display group 1, creates the motion corresponding to group 1 separately.As shown in figure 17, can also be different from the position of the key frame of structure as a whole corresponding to the position of group 1 key frame, so that can be independent of the motion of structure as a whole, the motion of establishment group 1.
Can also will synthesize at the frame of group 1 establishment and the frame of structure as a whole.Figure 18 is the example of Composite Display.In the timetable window of Figure 18, the key frame of structure as a whole and group 1 key frame all are registered as key frame, make that the motion of structure as a whole is synthetic the two and the motion that generates.That is to say that in above-mentioned example, the first half of structure matches with the pairing motion of frame of organizing establishment in 1, and the not motion of change of the frame of the latter half of structure and total matches.For example, it is synthetic to automatically perform frame by " group 1 " pairing " deletion " button in the timetable window 2 among selection (clicking) Figure 17.In other words, by deletion group 1, will synthesize for the frame of organizing 1 frame of creating and structure as a whole.
In addition, according to the animation program of the present embodiment precalculated position displayed record button (" [the shade circle] " among Fig. 7 in the action pane 1 (actual is red circle) symbol) in action pane.By selecting (clicking) this record button, the operation that the user can also go up the record all operations, carry out as the user at the memory device (for example hard disk) of computing machine, be selection, drag operation and the viewpoint blocked operation of structure link, can also write down image corresponding to these operations.Can in statu quo store user's work history thus." [shade the square] " button that is presented at record button " [shade circle] " next door is the record stop button.
Protection scope of the present invention is not limited to or is subject to the foregoing description, but contains the invention shown in the claim and any equivalent thereof.
Industrial applicibility
According to above-mentioned the present invention, a kind of animation creation program is provided, can automatically determine structure The position of each link keep as far as possible natural appearance so that comprise the structure of a plurality of links Gesture. Determine this structure during a link of the structure that therefore, can show at moving screen The position of other link the nature so that the posture of structure can not become on the whole, and And can determine to comprise by simpler and easy operation the posture of the structure of a plurality of links.
Claims (18)
1. animation creation program, be used on screen, showing and comprise the structure of a plurality of links that three dimensions is constructed and the animation that is used to create described structure, it is characterized in that, when selecting on screen by scheduled operation and move first link of described structure, the locus of other link of described structure is determined automatically, makes described structure keep natural manner.
2. animation creation program as claimed in claim 1 is characterized in that, the locus of other link of described structure is to adopt to determine based on the inverse kinematics computing method of Jacobi and unusual healthy and strong inverse matrix (SR-inverse matrix) thereof.
3. an animation creation program is used for showing on screen comprising the structure of a plurality of links that three dimensions is constructed and the animation that is used to create described structure, it is characterized in that each link comprises that at least one constitutes the joint component of rotation center; The locus of the joint component of each link is set to movably or is fixing; And when selecting on screen by scheduled operation and move first link of described structure, the joint component of second link that its joint component is set to fix is shown so that move, and makes described structure keep natural manner.
4. animation creation program as claimed in claim 3 is characterized in that, the described link that is arranged on of the joint component of described second link still remains after being moved fixing.
5. an animation creation program is used for showing on screen comprising the structure of a plurality of links that three dimensions is constructed and the animation that is used to create described structure, it is characterized in that each link comprises that at least one constitutes the joint component of rotation center; The rotating range of the joint component of each link is set up; And when selecting on screen by scheduled operation and move first link of described structure, the joint component of second link is shown as like this, so that this joint component is rotated to such an extent that surpass its rotating range, makes described structure keep natural manner.
6. animation creation program as claimed in claim 5 is characterized in that, the rotating range of each link is presented at its display position.
7. animation creation program as claimed in claim 6 is characterized in that, when the position of rotation of each link its separately on the limit of rotating range or just within this limit or outside the time, the Show Color of rotating range changes.
8. as any described animation creation program in the claim 5 to 7, it is characterized in that the rotating range of each link is variable.
9. as each described animation creation program in the claim 3 to 8, it is characterized in that the locus of described second link is to adopt to determine based on the inverse kinematics computing method of Jacobi and unusual healthy and strong inverse matrix (SR-inverse matrix) thereof.
10. an animation creation program is used for showing on screen comprising the structure of a plurality of links that three dimensions is constructed and the animation that is used to create described structure, it is characterized in that each link comprises that at least one constitutes the joint component of rotation center; The locus of the joint component of each link is set to movably or is fixing; And to select its joint component by scheduled operation be that first link of fixing allows described first link to move.
11. as each described animation creation program in the claim 1 to 10, it is characterized in that, can make described predetermined indicating device on screen, aim at described first link by the predetermined indicating device that shows on the moving screen, thereby select described first link.
12. animation creation program as claimed in claim 11 is characterized in that, when selecting described first to link, the Show Color of described first link changes.
13. animation creation program, be used on screen, showing predetermined structure that three dimensions is constructed and the animation that is used to create described structure, it is characterized in that, show the time shaft of the timetable be used to show the time relationship between a plurality of two field pictures that constitute described animation in vertical direction.
14. an image processing apparatus is characterized in that comprising:
First display part, it shows the structure that comprises a plurality of links of constructing in the three dimensions;
Setting device, the locus of each link of its structure and the joint component of each link are set to movably or are fixing;
Second display part, it vertically shows the time shaft of timetable, the time relationship between a plurality of two field pictures of the animation of the described structure of this timetable demonstration formation; And
Indicating device, it moves on on the image of described first display part according to operating personnel's operation, and the setting operation done at described setting device and described timetable of display operation personnel.
It is characterized in that when selecting on the image of described first display part by scheduled operation and move first link of described structure, the locus of other link of described structure is determined automatically, makes described structure keep natural manner.
15. animation creation program as claimed in claim 1 or 2, it is characterized in that, on screen, show and stride predetermined time interval, constitute under one of them the situation of a plurality of frames of animation of described structure, when first frame is chosen as the current time frame of position that allow to handle described structure and posture, be presented at the structure corresponding on the described screen with described first frame, so that allow to handle the position and the posture of described structure, and the pairing structure of at least one second frame beyond described first frame is presented on the described screen, so that distinguish mutually with the pairing structure of described first frame; And the predetermined indicating device that shows on by described screen is when selecting the viewing area of the pairing structure of described second frame, described second frame changes to described current time frame, and show the pairing structure of described second frame, so that allow to handle the position and the posture of described structure.
16. animation creation program as claimed in claim 15 is characterized in that, shows the pairing structure of described second frame with the form of mirage.
17. as claim 15 or 16 described animation creation programs, it is characterized in that, selecting on the described screen according to scheduled operation and moving under the situation of first link of structure of described first frame, when the structure of described first link and described second frame that shows with the mirage form, as linking corresponding second the distance between linking that links when approaching to be equal to or less than preset distance with described first, described first link is moved to the position of described second link, and the position of other link of the structure of described first frame is determined, and makes described structure keep natural manner.
18. animation creation program as claimed in claim 1 or 2, it is characterized in that, a plurality of frames at the animation of striding predetermined time interval, the described structure of formation, setting comprises the first frame group of a plurality of frames of the all-links that allows the described structure of manipulation, and one the second frame group that comprises a plurality of frames of some links that allow the described structure of manipulation; And it is characterized in that, described first frame group and the described second frame group are synthesized, carry out the motion of the described second frame group and link the structure animation of the motion of carrying out the described first frame group thereby create at remaining at more described links.
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| JP2001036177 | 2001-02-13 | ||
| JP2001246284A JP2002319036A (en) | 2001-02-13 | 2001-08-14 | Animation generation program |
| JP246284/2001 | 2001-08-14 |
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| CN1461460A true CN1461460A (en) | 2003-12-10 |
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| CN02801134A Pending CN1461460A (en) | 2001-02-13 | 2002-02-13 | Animation creation program |
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| US (1) | US7106334B2 (en) |
| EP (1) | EP1282079A4 (en) |
| JP (1) | JP2002319036A (en) |
| KR (1) | KR100856219B1 (en) |
| CN (1) | CN1461460A (en) |
| AU (1) | AU2002232172B2 (en) |
| CA (1) | CA2405924C (en) |
| TW (1) | TWI282073B (en) |
| WO (1) | WO2002065400A1 (en) |
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2001
- 2001-08-14 JP JP2001246284A patent/JP2002319036A/en active Pending
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2002
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- 2002-02-13 AU AU2002232172A patent/AU2002232172B2/en not_active Ceased
- 2002-02-13 KR KR1020027013742A patent/KR100856219B1/en not_active IP Right Cessation
- 2002-02-13 CN CN02801134A patent/CN1461460A/en active Pending
- 2002-02-13 CA CA2405924A patent/CA2405924C/en not_active Expired - Fee Related
- 2002-02-13 WO PCT/JP2002/001206 patent/WO2002065400A1/en active Application Filing
- 2002-02-13 EP EP02712325A patent/EP1282079A4/en not_active Withdrawn
- 2002-10-10 US US10/267,871 patent/US7106334B2/en not_active Expired - Fee Related
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| US8851991B2 (en) | 2007-06-07 | 2014-10-07 | Konami Digital Entertainment Co., Ltd. | Game device, game device control method, program, and information storage medium |
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| CN104517310A (en) * | 2014-10-21 | 2015-04-15 | 无锡梵天信息技术股份有限公司 | Robot animation method using inverse dynamical simulation |
| CN109671139A (en) * | 2017-10-13 | 2019-04-23 | 达索系统公司 | For creating the method for summarizing the animation of design process of three dimensional object |
| CN109671139B (en) * | 2017-10-13 | 2024-05-17 | 达索系统公司 | Method for creating an animation summarizing a design process of a three-dimensional object |
| CN111524213A (en) * | 2020-07-06 | 2020-08-11 | 江苏原力数字科技股份有限公司 | Inverse dynamics resolving method and device applied to humanoid skeleton |
| CN111524213B (en) * | 2020-07-06 | 2020-09-22 | 江苏原力数字科技股份有限公司 | Inverse dynamics resolving method and device applied to humanoid skeleton |
Also Published As
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| CA2405924C (en) | 2010-05-11 |
| CA2405924A1 (en) | 2002-10-11 |
| TWI282073B (en) | 2007-06-01 |
| JP2002319036A (en) | 2002-10-31 |
| US20030034980A1 (en) | 2003-02-20 |
| EP1282079A4 (en) | 2005-12-21 |
| KR100856219B1 (en) | 2008-09-03 |
| AU2002232172B2 (en) | 2007-11-22 |
| EP1282079A1 (en) | 2003-02-05 |
| US7106334B2 (en) | 2006-09-12 |
| WO2002065400A1 (en) | 2002-08-22 |
| KR20020089460A (en) | 2002-11-29 |
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